Compensating for vignetting

ABSTRACT

A system including an image capture system with a sensing efficiency that varies over a field of view of the image capture system may employ shaped illumination to compensate for the variation in the sensing efficiency. An illuminator may be configured to illuminate the field of view of the image capture system with illumination shaped to have higher intensity where the sensing efficiency is lower, e.g., at the periphery of the field over view. The imaging system may thus provide image data with more uniform signal-to-noise ratios. Image data from an illuminated scene may be manipulated using data from a non-illuminated scene to produce improved image data.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication No. 62/438,956 filed on Dec. 23, 2016, which is incorporatedby reference as if fully set forth herein.

BACKGROUND

Vignetting, in photography or imaging is an effect where a portion, suchas the periphery, of an image is darker or less saturate than anotherpart of the image. Vignetting may be intentional or desired in somephotography to achieve a desire image effect or aesthetic. In othercases, unintentional and undesirable vignetting results from a camera'slimitations or improper settings. Digital image correction can reduce oreliminate undesired vignetting, but while digital image processing mayimprove the appearance of an image, digital processing may not improvethe accuracy of image data. As a result, in some applications, such as atime-of-flight cameras or machine vision imaging, image post-processingcan be ineffective because the additional processing does not improveand may worsen the signal-to-noise ratios (SNRs) of the image data.

SUMMARY

In accordance with an aspect of the invention, a scene or object may beilluminated to compensate for the vignetting that would otherwise resultin an imaging system. As an example, illumination in areas correspondingto the corners of the field-of-view of the imaging system may be moreintense than the illumination in areas corresponding to the center ofthe field-of-view. Further, imaging systems may use illuminators thatprovide illumination specifically shaped according to the capabilitiesof the image capture systems. Some systems may manipulate image databased on two or more versions of image data collected for a scene suchas by removing data from a first version based on image data from asecond version. Some systems may employ image capture techniques thatare only sensitive to the emitted light from the illuminator for thesystem, so that the effects of uncontrolled ambient lighting can beavoided. Some of these imaging systems may be particularly suited for 3Dcameras, gesture control cameras, or camera systems used in darksettings.

In accordance with an implementation, an imaging system includes animage capture system and an illuminator. The image capture system has asensing efficiency that varies over a field of view of the image capturesystem, and the illuminator illuminates the field of view of the imagecapture system with illumination having a distribution shaped to havehigher intensity where the sensing efficiency is lower.

In accordance with another implementation, a method for collecting imagedata includes illuminating a scene with illumination having a shapeddistribution with higher intensity where sensing efficiency of an imagecapture system is lower. The image capture system may then capture imagedata representing the scene as illuminated with the illumination havingthe shaped distribution. The image data may have a substantially uniformsignal-to-noise ratio or may be used to generate image data having asubstantially uniform signal-to-noise ratio.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the disclosed subject matter, are incorporated in andconstitute a part of this specification. The drawings also illustrateimplementations of the disclosed subject matter and together with thedetailed description serve to explain the principles of implementationsof the disclosed subject matter. No attempt is made to show structuraldetails in more detail than may be necessary for a fundamentalunderstanding of the disclosed subject matter and various ways in whichit may be practiced.

FIG. 1 shows a block diagram of a system including an illuminator thatprovides illumination shaped to reduce or avoid the effects ofvignetting on image data;

FIG. 2A shows a contour plot illustrating how the sensing efficiency inan image capture system may decline toward edges of a field of view ofthe image capture system;

FIG. 2B shows a contour plot illustrating angular dependence ofillumination shaped to compensate for the sensing efficiency variationsillustrated in FIG. 2A;

FIG. 3A shows a perspective view of an illuminator using optics toprovide rotationally symmetric shaped illumination;

FIG. 3B shows a perspective view of an illuminator that provides shapedillumination using a shaping lens that efficiently limits illuminationto a field of view of an imaging system;

FIG. 4 shows a cross-sectional view of an illuminator that uses a sourceof diverging light to produce illumination with a shaped distribution;

FIGS. 5A and 5B respectively show an exploded view and an assembled viewof an illuminator employing an array of semiconductor lasers;

FIG. 6 shows an illuminator that uses a light source producing lightwith a spatially non-uniform intensity distribution to produceillumination with an angularly non-uniform intensity distribution; and

FIG. 7 shows a block diagram of a processing system employing anilluminator providing illumination that is shaped to compensate forcharacteristics of an image capture system.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

According to embodiments described herein, an imaging system may employan illuminator configured to provide illumination shaped to reduce oravoid vignetting or other variations in images and/or to provide imagedata with more uniform signal-to-noise ratios (SNRs) especially incomparison to traditional image data which may correct vignetting duringa post-processing stage, resulting in non-uniform and/or higher SNRs.The illuminator may particularly be adapted to provide illuminationhaving an intensity distribution with a shape specifically based on thecharacteristics of an image capture system, e.g., the capabilities ofthe imaging optics and the sensing array. The illuminator may provide afixed shape for the illumination, e.g., a shape that results fromilluminator hardware, lenses, and light sources, or provide illuminationthat may be programmed or changed, for example, according to currentambient lighting conditions or current setting of the image capturesystem. In some implementations, the imaging system may include anilluminator and image capture system that are matched so thatillumination compensates for non-uniform sensing efficiency of the imagecapture system and so that the image capture system is only sensitive tothe illumination from the illuminator.

FIG. 1 is a block diagram of a system 100 in accordance with oneimplementation of the invention. System 100 may be any type of device orcollection of devices that capture(s) image data. For example, system100 may be a camera such as a security camera, a 3D camera, a depthsensing camera, a night vision camera, or a biometric identificationcamera, or biometric sensing camera, and may be a or may be part of amulti-function device such as a mobile telephone, a computer, a robot,an industrial system, or a vehicle that has or employs imagingcapabilities, or may be any type of system that requires datarepresenting or capturing a scene within a field of view. System 100 mayparticularly be or include a system that processes image data and, asdescribed further below, may be able to capture or produce image datahaving SNRs across different areas of an image. It should be understoodthat although a system is used to describe this implementation, thesystem may be a single device or a combination of devices, as disclosedherein.

System 100, as illustrated, includes an illuminator 110, an imagecapture system 120, and a processing system 130 that operate to captureimages or image data from a field of view 150. Imaging system 100 (orparticularly the separation between illuminator 110 and image capturesystem 120) may be small relative to the object or scene within field ofview 150, so that the optical axes of illuminator 110 and image capturesystem 120 may be approximately co-linear with each other.

Illuminator 110 may be a lighting system capable of providingillumination covering at least a portion of an object or a scene that iswithin field of view 150 of image capture system 120. Illuminator 110may include one or more light sources such as light emitting diodes(LEDs) or semiconductor lasers and optics that are together configuredto provide flashes or bursts of illumination or continuous illuminationthat is shaped, e.g., has an intensity profile that varies andparticularly that varies with the angle of light rays from illuminator110 relative to the optical axis of illuminator 110. Some examples ofimplementations of suitable illuminators are described herein andilluminator 110 is used herein as a general reference to an illuminatorwhich may apply to one or more suitable illuminators.

Image capture system 120 may be a camera capable of capturing stillimages or sequences of images, e.g., video. Image capture system 120 maybe of any design including those well known in the art for cameras. Inthe general configuration illustrated in FIG. 1, image capture system120 includes imaging optics 122 and an image sensor 124. Imaging optics122, in a typical configuration, may include, for example, one or morelenses, focusing systems, and aperture control systems that operate toform an image on image sensor 124. Image sensor 124, which may, forexample, be a charge coupled device (CCD) or a CMOS sensor array, senseslight from the image formed by imaging optics 122 and provides imagedata to processing system 130. The image data may, for example, includeone or more arrays pixel values with each pixel value representing anintensity, color, shadow, reflection, or spectral content that a pixelsensor sensed for a corresponding area or angular range in field of view150.

Processing system 130 may provide general control of imaging capturesystem 120, for example, to set parameters for image capture or toinitiate image capture, and processing system 130 may include aconventional microcontroller with suitable software or firmware forthose functions. Processing system 130 may particularly set or detectsettings or characteristics of image capture system that control theboundaries of field of view 150 and the efficiency at which pixelsensors in image sensor 124 senses light from respective areas of fieldof view 150. Processing system 130 may further control illuminator 110to provide the correct illumination for the current configuration ofimage capture system 120, e.g., the focus or magnification of imagecapture system 120, or for ambient lighting that may be present duringimage capture. Processing system 130 may further process image data fromimage capture system 120, for example, to simply store image data indata storage (not shown) or to perform a function such as recognizingobjects, extracting depth information, doing color corrections, orperforming spectral analysis and so on. Processing system 130 mayfurther process the manipulation of image data based on two or morecaptured image data, such as by subtracting a first image data from asecond image data, as further disclosed herein.

The configuration of imaging optics 122 and the size and configurationof image sensor 124 may determine or define the boundaries of field ofview 150. In many configurations, however, image capture system 120 maybe unable to provide uniform sensitivity or uniform sensing efficiencyfor the entirety of field of view 150. For example, the sizes ofapertures in imaging optics 122 may make image capture system 120 lessable to collect light from the periphery of field of view 150, whichresults in vignetting. FIG. 2A illustrates an example of sensingefficiency of an example image capture system. The sensing efficiency ofa pixel sensor in an imaging system may be defined as or determined froma ratio of the intensity sensed by the pixel sensor to the intensity oflight originating from the region or angular range in a field of viewcorresponding to the pixel. Such sensing efficiency may be exemplifiedfor an ideal image capture system by considering a uniform field, e.g.,a white screen that is uniformly lit and sensed, by the sensory array inthe image capture system, as uniformly lit. In this case, a sensor arrayin the image capture system would ideally measure uniform intensityacross the area of the sensor array. In real image capture systems,different pixel sensors in the image sensor may measure differentintensities, e.g., because of limits in the ability of the image capturesystem to collect light from different areas in the field of view. Asshown in FIG. 2A, a typical image capture system subject to vignettingmay have a highest sensing efficiency at the center of the field of viewof the image capture system, which may be because the system is able tocapture a larger fraction of the light originating at the center of thefield of view. FIG. 2A shows the center of the field of view with peaksensing efficiency (assigned a relative value 1.0). The contours in FIG.2A show how the sensing sensitivity falls for pixel sensors positionednearer to the edges of the image sensor, which would result invignetting of images and higher signal-to-noise ratios in pixel dataassociated pixels near the edges of the field of view. With an imagingcapture system having sensing efficiency as shown in the example of FIG.2A, an image of a uniformly lit scene would have the measured intensitylevels at the corners of the field of view that are about 40% of what anideal imaging system would measure.

The lower measured intensity levels, such as those shown towards thecorners in the example of FIG. 2A, may cause the signal-to-noise ratioworsen as the signal-to-noise ratio often depends on the measuredintensity levels. Here, lower intensity levels may correspond to ahigher signal-to-noise ratio at the corners of the field of view in FIG.2A. Applying post-processing techniques in an attempt to improve animage quality at the corners of the field of view may cause an evenhigher (worse) signal-to-noise ratio. This may be especially problematicin certain imaging systems such as security cameras, time of flightcameras, depth sensing cameras, 3D imagers, night vision cameras, andthe like.

Illuminator 110 may provide illumination having an intensitydistribution that is shaped to compensate for vignetting or othervariations in sensing sensitivity. In particular, the illumination mayhave a pattern shaped in angular space. FIG. 2B shows a contour plotillustrating an intensity distribution, according to an implementationof the disclosed subject matter, that compensates for the non-uniformsensing efficiency illustrated in FIG. 2A. The illumination intensitywithin the field of view shown in FIG. 2B may be inversely proportionalto the corresponding sensing efficiency within the field of view shownin FIG. 2A. The illumination in FIG. 2B is plotted as a function ofangle relative to a ray from the illuminator 110 to the center of thefield of view of the illuminator 110. Corresponding pixel sensors in animage capture system may detect light from respective angles for lightfrom a scene within the field of view of the image capture system. FIG.2B does not show illumination that would illuminate areas outside thefield of view of the imaging system. No illumination is needed forimaging outside the field of view the imaging system, so the illuminatorintensity from the illuminator 110 is not critical and may be zerooutside the ranges of field-of-view angles.

The illumination provided by an illuminator 110 is represented in FIG.2B and has a lowest illuminated intensity (assigned a relative intensityfactor of 1.0) at a center of the field of view. The illuminationincreases in intensity toward the edges of the field of view. Forexample, at the corners of the field of view, the illumination has arelative intensity of 2.5, which is 250% of the illumination at thecenter of the field of view. An imaging system using such illuminationmay achieve uniform effective sensing efficiency across the sensingarray if the increase in illumination intensity compensates for thedecrease in sensing efficiency for image capture. In the illustratedexample, for each pixel sensor, the product of the relative sensitivityfactor from FIG. 2A and the corresponding relative intensity factor fromFIG. 2B is uniform. At the center, the product of relative capturefactor 1.0 and relative illumination factor 1.0 is 1, and at the cornersthe product of relative capture factor 0.4 and relative illuminationfactor 2.5 is also 1.

The illumination illustrated in FIG. 2A may fully or substantially fullycompensate for vignetting or for variations in SNR caused in an image orin image data by the variable sensing efficiency illustrated in FIG. 2A.According to an implementation of the disclosed subject matter, theimage capture system may only capture reflected light for which theilluminator 110 is the original source. This may be achieved, at leastapproximately, through use of an image capture system that is sensitiveonly to the light having the characteristics, e.g., the polarization,frequency, or wavelength of light from the illuminator 110. For example,the illuminator 110 may produce illumination in a narrow spectral band,and the image capture system may include a spectral filter tuned to theillumination band and allowing mostly light from the illuminator 110 topass. Further, the illuminator 110 may be turned off and on for captureimages of a scene in “dark” and “bright” illuminations, and a processingsystem can subtract image data corresponding to a dark image from abright image data to produce image data corresponding to an image thatwould result when the scene was only under illumination from theilluminator 110. Synchronous image detection techniques could similarlymodulate light from the illuminator 110 (on and off) at frequencies andphases selected according to the frame rate or image capture timing ofcameras. For example, the frequency of flashes of illumination from anilluminator 110 may be much higher than the frame rate of a cameraand/or provide a phase difference relative to image capture in thecamera so that time-of-flight calculations can use image data anddetermine distances to objects that the illuminator 110 illuminates.Variation on synchronous image detection techniques may be used intime-of-flight imaging.

The camera or image capture system may capture ambient light and lightfrom the illuminator 110 that is reflected from objects in the field ofview. According to an implementation of the disclosed subject matter,the illuminator 110 may provide illumination that is altered based on oradapted according to the ambient illumination that may be expected ormeasured for the field of view. For example, for a uniformly lit scene,the illuminator 110 may be operated to provide illumination that, whenadded to the uniform ambient light, provides the total intensities asshown in FIG. 2B and thereby compensates for the relative sensingefficiency illustrated in FIG. 2A. Commonly, the ambient light in ascene, e.g., from a conventional light source such as room lighting orconventional camera flash systems, may not be uniform and may exacerbatevignetting, and an illuminator 110 used with such ambient light may needto provide illumination that is shaped to compensate for effects causedby both limitations of the image capture system and the ambientlighting. In particular, the illuminator 110 therefore may need tocompensate for illumination vignetting and imaging vignetting, requiringthe illuminator 110 to produce stronger compensation than illustrated bythe example of FIG. 2A and FIG. 2B.

The image capture system may capture two or more sets of image data fora given scene. The two or more sets of image data may be collected, forexample, by capturing back-to-back image data. A first image data may becollected when an illuminator 110 illuminates the scene. A second imagedata may be captured without the illumination from the illuminator 110and may capture image data for the scene with ambient light illuminatingthe scene. A processing component such as a microprocessor, amicrocontroller, or any other applicable processing component may beconfigured to manipulate the two or more sets of image data to produceimproved image data that may be used for security systems, 3D systems,depth sensing, object recognition, night vision, biometricidentification and sensing, or the like. The improved image data maycombine the first and second image data such that the resulting improvedimage data contains a uniform signal to noise ratio. Alternatively, theimproved image data may be the result of subtracting the second imagedata captured in ambient light from the first image data captured whenthe illuminator 110 illuminates the scene. This improved image data my,for example, allow the processing component to collect image data in thesame format that comparable data is stored in the system. The improvedimage data may be compared to the comparable image data for objectrecognition such as facial recognition. More specifically, subtractingthe second image data captured under ambient light from the first imagedata captured under the illuminator's light may result in improved imagedata that may correspond to a standardized format of data. In thisexample, the influence of ambient light onto a scene may be removed inthe improved image data such that it can be compared to otherstandardized image data.

Illuminator 110 of FIG. 1 may be implemented using a variety ofdifferent architectures. FIG. 3A, for example, illustrates components ofan illuminator 300 including a light source 310 and optics 320. Lightsource 310 may be any component configured to emit light such as an LEDor an array of LEDs, and optics 320 may include one or more opticalelements such as Fresnel lenses, gratings, or other structures thatalter or control the angular distributions or shape of illuminationexiting optics 320. In an assembled illuminator 300, optics 320 may beattached to light source 310.

Optics 320 for illuminator 300 of FIG. 3A may produce a rotationallysymmetric illumination pattern and may be easier to design andfabricate, e.g., with circular optical elements. A rotationallysymmetric illumination, however, may result in significant amounts ofwasted light, i.e., light outside field of view, when an image capturesystem has a rectangular field of view. FIG. 3B shows an illuminator 350that employs optics 370 including rectangular optical elements to moreefficiently use radiation from a light source 360 to provideillumination to a rectangular field of view.

An illuminator using an LED as a light source, e.g., light source 310 or360, may need an optical system, e.g., optics 320 or 370, that reshapesthe angular dependence of the intensity distribution of light emittedfrom the light source. Accordingly, the optical system may be designedaccording to the light emission characteristics of the light source.FIG. 4, for example, shows a cross-sectional view of an illuminator 400including a light source 410 that may be an LED or other light emittingdevices that emits light 415 that diverges from a source area. Theintensity of light 415 from light source 410 depends on the constructionof light source 410, and a typical light source may have an angularintensity distribution that is uniform or Lambertian, for example. Asnoted above, the desired angular distribution of illumination 425 fromilluminator 400 may require a different distribution, e.g., adistribution that is more intense at larger angles from an optical axisof the illuminator. To increase intensity at edges of a field of view,an optical element 420 may fold the rays diverging from an LED such thatthe rays are more dense, i.e., brighter, in the areas or directionswhere more light is desired, e.g., brighter at larger angles ofdivergence.

The same principles illustrated in FIG. 4 for a single source 410 ofdivergent light may be employed and repeated for an array of such lightsources. For example, in yet another alternative configuration, anilluminator 110 includes an array of LEDs and an array of opticalelements to shape illumination and direct illumination from the LEDsinto a rectangular field of view. U.S. Pat. No. 8,729,571, entitled“Multiple die LED and lens optical system,” for example, disclosesarchitectures for LED arrays or systems having controlled distributionsof light.

FIG. 5A, for example, illustrates components of an illuminator 500wherein an array of semiconductor lasers with a diffuser as the primaryoptic is employed. Illuminator 500 includes an integrated circuitpackage 510 containing an array 512 of vertical cavity surface emittinglasers (VCSELs) or other semiconductor lasers. A diffuser 520 is shownin FIG. 5A on a carrier 522 that may be used during fabrication ofdiffuser 520 or for attachment of diffuser 520 to integrated circuitpackage 510 in the assembled illuminator 500 as shown in FIG. 5B.Diffuser 520 may be an engineered diffuser with carefully controlledcharacteristics, e.g., an array of microlenses or other optical elementswith predefined shapes and positions. A single laser in array 512 mayproduce light with a divergence of about 20 degrees. Depending on thespacing of lasers in array 512 and the spacing of lenslets or otheroptical elements in diffuser 520, each laser may illuminate one ormultiple lenslets or optical elements in the diffuser 520. In oneconfiguration, diffuser 520 may separately shape light from each laserin array 512. More generally, diffuser 520 transforms the light fromarray 512 into a divergent beam, e.g., a rectangular angular fan, with adesired angular intensity distribution. As shown in FIG. 5B, diffuser520 may be attached to package 510 so that diffuser 520 receives lightfrom array 512.

The distribution of illumination from illuminator 500 may be furthercontrolled by the electrical power or currents respectively applied tothe lasers in array 512. More generally, some light emitters may beclose to point sources but will have some size or extent for each lightemitting area, and an optical system tends to create a distorted imageof the light emitting area. Commonly, the light from the periphery of alight emitting area, e.g., edges of an LED chip, tends to illuminate theperiphery of a spot or scene. The spatial distribution of light from anextended source such as array 512 thus may be set or altered to impactthe angular radiation pattern the illumination out of an optic such asdiffuser 520.

According to an implementation of the disclosed subject matter, FIG. 6shows an illuminator 600 that uses a light source 610 that is extendedand spatially non-uniform to produce a desired angular distribution forintensity in output illumination. Light source 610 may be made ofmultiple and perhaps individually addressable individual emitters, e.g.,a VCSEL array, or may be one extended source producing a spatialdistribution of illumination that varies over the light emitting area ofthe extended source. In the illustrated configuration, light source 610is positioned to produce light originating from a focal plane of opticalsystem 620. FIG. 6 illustrates a particularly simple implementationwhere optical system 620 is a lens, but other or more complex opticalsystems may be employed to translate spatial positions on light source610 to far field angles or to otherwise correlate spatial and angulardistributions of light. With the illustrated configuration, opticalsystem 620 directs or projects light from different areas of lightsource 610 to different the far field angles. For example, opticalsystem 620 directs light that originated from an area 612 of lightsource 610 on the optical axis of optical system 620 as light 622parallel to the optical axis, but optical system 620 directs light 624from an off-axis area 614 of light source 610 along a direction thatdepends on the focal length f of optical system 620 and on the positionof area 614 relative to the optical axis of optical system 620.Accordingly, the angular distribution of light from illuminator 600 iscorrelated with the spatial distribution of light emitted from lightsource 610, and brighter areas of light source 610 produce brighterangular regions in the radiation pattern of the illumination fromilluminator 600. Accordingly, to produce illumination that is brighterat larger angles, light source 610 may be designed or may be operated tobe brighter at its periphery.

Light source 610, in one implementation, may be a collection or an arrayof separately controllable or addressable light elements havingintensities that may be programmed or controlled to achieve a desiredshape for emitted illumination. For example, with an array of separatelycontrollable light elements in light source 610, a control or processingsystem may independently operate the light elements in the array so thatlight source 610 produces a spatial distribution of light that resultsin a desired far-field illumination from illuminator 600. Theillumination from the illuminator 600 may thus be tuned according tosensing efficiency of an image capture system and may be altered ifnecessary as the image capture system changes due to aging or alteredsettings. In one implementation, a processing system may executesoftware that changes the illumination from light source 610 accordingto changes in the focus, magnification, or another characteristic of animage capture system being used with illuminator 600.

FIG. 7 is a block of another implementation of a processing system 700employing an illuminator 710 that shapes illumination that is directedinto a field of view 750 of an image capture system 720. Processingsystem 700 may be a computer, e.g., a general purpose computing system,or may be a system primarily intended to perform a set of specificfunctions, e.g., a mobile telephone, tablet, wearable device, or atime-of-flight camera, and the components of processing system 700 maybe integrated into a single device, e.g., a portable or handheld device,or may be made up of multiple detachable components, e.g., a computerwith one of more peripheral devices. Processing system 700 mayspecifically include a processor 730 with associated processing hardwarethat permits processor 730 to access data, e.g., image data 745, andexecute instructions, e.g., software or firmware, that may be stored ina memory 740. Processor 730 may, for example, include one or morecentral processing units (CPUs) or processing cores capable of executingprogram instructions and may include hardware that enables the CPUs orcores to control operation of connected devices such as illuminator 710and image capture 720.

Memory 740 may include volatile or nonvolatile random access memory(RAM) that makes up a portion of the address space of processor 730.FIG. 7 illustrates an example implementation in which memory 740 forprocessor 730 contains a set of executable program modules 742, 744,746, and 748. (Such modules 742, 744, 746, and 748 may also be stored inor on a storage medium or device 770, which may for example include ahard drive or a removable memory device, instead of or in addition tobeing in addressable memory.) Modules 742, 744, 746, and 748 may have avariety of purposes and may be selectively executed when system 700perform specific processes or functions. For example, processor 730 mayexecute a user interface 742 to control input and output devices insystem 700 and to receive commands or information or to provideinformation or content. In particular, in addition to illuminator 710and image capture system 720, system 700 includes interface hardware760, which may include input devices such as switches, buttons, akeypad, a keyboard, a mouse, a touch screen, or a microphone that a usermay operate to provide input or commands, and processor 730 may executeuser interface 742 to control the input devices and interpret useractions. Interface hardware 760 also may also include conventionaloutput devices such as speakers, an audio system, or a touch screen orother display, and processor 730 may execute user interface 742 tooutput information via the output devices. Interface hardware 760 mayfurther include network interfaces that enable system 700 to receive ortransmit information through a network such as a local area network, awide area network, a telecommunication network, or the Internet.

Processor 730 may execute image capture control module 744 when usingimage capture system 720 to capture data, for example, in response to acommand to capture an image with image capture system 720 or a commandto change the settings, e.g., focus, aperture, filter, or lens, used inimage capture system 720. In accordance with an aspect disclosed herein,when image capture is initiated, illuminator 710 produces illuminationthat is shaped to compensate for limitations of image capture system720, for example, to reduce vignetting in captured image data. In system700, processor 730 may execute illuminator control module 746 to controlwhen and how illuminator 710 operates. The particular illuminatorcontrol process will generally depend on the capabilities of illuminator710. For example, if illuminator 710 provides illumination with onefixed shape, one illumination control process may operate illuminator710 in synchronization with image capture 720, e.g., at the same time asimage capture or at a specified time offset relative to image capture.If illuminator 710 can produce illumination with a programmable shape,e.g., if illuminator 710 is similar or identical to illuminator 600 ofFIG. 6, processor 730 may execute illuminator control process 746 toselect and produce a desired shape for the illumination from illuminator710. In one such implementation, execution of illuminator control module746 may identify a target illumination based on the current settings ofimage capture system 720, i.e., based on the focus, aperture, filter, orother features currently being used image capture system 720. Theprocess resulting from execution of illuminator control module 746 mayfurther detect ambient lighting in field of view 750 and may operateilluminator 710 to direct illumination into field of view 750 that aloneor in combination with the ambient lighting achieves the identifiedtarget illumination for field of view 750. With fixed illumination orwith programmable illumination, the captured image data may have a moreuniform SNR than would be achieved with the ambient lighting or withconventional flash or lighting systems.

Image data 745 in memory 740 (or storage 770) may represent one or moreimages or frames captured by system 700. System 700 in addition tocapturing image data 745 may process the image data. In particular,processor 730 may execute image processing module 748 to perform aprocessing function such as recognizing objects represented in imagedata 745, extracting depth or distance information for objectsrepresented in image data 745, doing color corrections of image data745, or performing spectral analysis if image data 745.

Systems and methods such as described above may employ shapedillumination to compensate for unwanted effects such as vignetting andmay provide image data having a more uniform SNR across an image. Suchsystems and methods may be particularly useful where the image data mayneed to be further processed for machine vision, object recognition, 3Dmodeling, or other purposes. Some applications that may particularlybenefit from these capabilities include but are not limited to securitycameras, 3D cameras, depth sensing, object recognition, night visioncameras, biometric identification cameras, and biometric sensingcameras.

While particular embodiments or implementations of the present inventionhave been shown and described, it will be obvious to those skilled inthe art that changes and modifications may be made without departingfrom this invention in its broader aspects and, therefore, the appendedclaims are to encompass within their scope all such changes andmodifications as fall within the true spirit and scope of thisinvention.

Although features and elements are described above in particularcombinations, one of ordinary skill in the art will appreciate that eachfeature or element can be used alone or in any combination with theother features and elements. In addition, the methods described hereinmay be implemented in a computer program, software, or firmwareincorporated in a computer-readable medium for execution by a computeror processor. Examples of computer-readable media include electronicsignals (transmitted over wired or wireless connections) andcomputer-readable storage media. Examples of computer-readable storagemedia include, but are not limited to, a read only memory (ROM), arandom access memory (RAM), a register, cache memory, semiconductormemory devices, magnetic media such as internal hard disks and removabledisks, magneto-optical media, and optical media such as CD-ROM disks,and digital versatile disks (DVDs).

What is claimed is:
 1. A system, comprising: a camera having a sensingefficiency that varies over a field of view of the camera; a lightingsystem configured to illuminate the field of view of the camera, thelighting system configured to generate illumination having adistribution shaped to have higher intensity where the sensingefficiency is lower, the illumination having an intensity at a center ofthe field of view that is lower than an intensity of the illumination atan edge of the field of view; and a processor configured to manipulate afirst image data corresponding to a scene illuminated by the lightingsystem using a second image data corresponding to the scene with ambientlighting.
 2. The system of claim 1, wherein image data representing ascene and captured by the camera has a substantially uniformsignal-to-noise ratio as a result of the illumination.
 3. The system ofclaim 1, wherein the first image data is combined with the second imagedata.
 4. The system of claim 1, wherein the second image data is removedfrom the first image data.
 5. The system of claim 1, wherein thelighting system is configured to produce rotationally symmetricillumination.
 6. The system of claim 1, wherein the lighting systemcomprises an array of semiconductor lasers.
 7. The system of claim 6,wherein the lighting system further comprises a diffuser positioned tocontrol divergence of beams from the semiconductor lasers.
 8. A system,comprising: a camera having a sensing efficiency that varies over afield of view of the camera; a lighting system configured to illuminatethe field of view of the camera, the lighting system configured togenerate illumination having a distribution shaped to have higherintensity where the sensing efficiency is lower, the lighting systemcomprising: a light source; and a lens configured to direct a firstintensity of light from the light source to a first area of the field ofview and configured to direct a second intensity of the light from thelight source to a second area of the field of view, the second areacorresponding to where the camera's sensing efficiency is lower, thesecond intensity being greater than the first intensity; and a processorconfigured to manipulate first image data, corresponding to a sceneilluminated by the lighting system, using second image data,corresponding to the scene with ambient lighting.
 9. The system of claim8, wherein the light source is configured to produce light from a sourcearea, and the light from the source area is spatially non-uniform. 10.The system of claim 9, wherein the light source comprises a plurality oflight elements that are distributed over the source area and operated toproduce the spatially non-uniform illumination.
 11. The system of claim8, wherein the lens is configured to alter illumination from the lightsource so that the illumination from the lighting system has arectangular cross-section.
 12. The system of claim 8, wherein the sourcearea is located in a focal plane of the lens.
 13. A method forcollecting image data, the method comprising: determining a sensingefficiency of an image capture system at a plurality of points;illuminating a scene with illumination having a shaped distribution withhigher intensity where the sensing efficiency of the image capturesystem is lower; using the image capture system to capture first imagedata representing the scene as illuminated with the illumination havingthe shaped distribution; and using the image capture system to capturesecond image data representing the scene in ambient light without theillumination having the shaped distribution.
 14. The method of claim 13,wherein the illumination is brighter at a periphery of a field of viewof the imaging system than the illumination is at a center of the fieldof view of the imaging system.
 15. The method of claim 13, furthercomprising combining the first image data and the second image data toproduce third image data that has a substantially uniformsignal-to-noise ratio.
 16. The method of claim 13, further comprisingsubtracting at least a portion of the second image data, representingthe scene in ambient light, from the first image data, representing thescene as illuminated with the illumination having the shapeddistribution, to produce third image data that has a substantiallyuniform signal-to-noise ratio.
 17. The method of claim 13, wherein theimage capture system is configured to capture the first image datarepresenting the scene as illuminated with the illumination having theshaped distribution based on a characteristic of the illumination. 18.The method of claim 17, wherein the characteristic of the illuminationis selected from the group consisting of a polarization, a wavelength,and a frequency.